Research Title: A Hierarchical MRAC-Based Neuro-Controller for Robots in Flexible Manufacturing Systems

Author: Kasim Mousa Al-Aubidy, Published Year: 0

Faculty: Engineering and Technology

Abstract: In one hand, the Model Reference Adaptive Control (MRAC) architecture has been widely used in linear adaptive control field. The control objective is to adjust the control signal in a stable manner so that the plant’s output asymptotically tracks the reference model’s output. The performance will depend on the choice of a suitable reference model and the derivation of an appropriate learning scheme. While in the other hand, clusters analysis has been employed for many years in the field of pattern recognition and image processing. To be used in control the aim is being to find natural groupings among a set of collected data. The mean-tracking clustering algorithm is going to be used in order to extract the input-output pattern of rules from applying the suggested MRAC scheme. These rules will be learnt later using the widely used Multi-layer perceptron neural network to gain all the benefits offered by those nets. A hierarchical MRAC based Neuro-controller is suggested to control robots in a flexible manufacturing system. This proposed controller will be judged for different simulated cases of study to demonstrate its capability in dealing with such a system.

Keywords: MRAC, mean-tracking clustering algorithm, MLP neural nets (BNN), computer control, real-time systems, robots, FMS.

Research Title: A VIRTUAL REALITY BASED EDUCATIONAL MODULE FOR KNOWLEDGE LEARNING & SKILLS TRAINING

Author: Kasim Mousa Al-Aubidy, Published Year: 1999

Faculty: Engineering and Technology

Abstract: Advances in computers and multimedia technology have changed traditional methods for learning and skills training. Today, multimedia education has been popular, it can provide an environment where virtual reality can be used to create interactive interfaces and real-time software can monitor every response made by the user. This paper presents an attempt to introduce the concepts of fuzzy set theory and multimedia technology in the design of a virtual reality based educational module. Such a module can deal with uncertainties in the knowledge acquisition, representation and decision making. It provides a powerful educational tool that can assist users in learning and training without actually handling real tools.

Keywords: Computer aided learning & training, Fuzzy set theory, Decision making, Multimedia technology, Software Engineering, Virtual reality systems.